CN117227242A - Servo control method, device, terminal and storage medium - Google Patents
Servo control method, device, terminal and storage medium Download PDFInfo
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- CN117227242A CN117227242A CN202311527814.6A CN202311527814A CN117227242A CN 117227242 A CN117227242 A CN 117227242A CN 202311527814 A CN202311527814 A CN 202311527814A CN 117227242 A CN117227242 A CN 117227242A
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Abstract
The invention discloses a servo control method, a device, a terminal and a storage medium, wherein the servo control method comprises the following steps: the method comprises the steps of obtaining a process curve of a servo press, calculating a motion characteristic curve of a servo motor of the servo press based on the process curve, and controlling the motion of the servo motor based on the motion characteristic curve to drive the servo press to work in a process curve mode, so that the servo control of the servo press can be realized through the process curve and the motion characteristic curve.
Description
Technical Field
The present invention relates to the field of automation control technologies, and in particular, to a servo control method, a device, a terminal, and a storage medium.
Background
The traditional mechanical press drives the large gear and the flywheel to rotate at a high speed by the alternating current motor, drives the crank-connecting rod-sliding block mechanism to do reciprocating motion by the clutch, stores energy by the flywheel in the motion process, bursts stored energy when the sliding block contacts with a workpiece, generates large pressure, causes the workpiece to deform, and has the advantages of simple structure, wide application, high productivity and the like. However, because the flywheel has large rotational inertia, the motor is difficult to realize speed adjustment, so that the rotating speed of the motor is almost unchanged, and the speed change of the sliding block is difficult to realize. Therefore, the traditional press has poor manufacturability, and the customization requirement of the process is difficult to realize under the condition that the shape and the surface performance of the part are particularly required. With the current development of the manufacturing industry to the intelligent and flexible directions, the traditional mechanical press machine is difficult to adapt to the development requirements of the future processing industry.
In order to solve the problems caused by the conventional mechanical press, a press directly driven by a servo motor, i.e., a servo press, has appeared. Compared with the traditional mechanical press, the servo press gradually replaces the traditional mechanical press with the advantages of simple structure, high processing efficiency, controllable position, speed and pressure of the sliding block and the like, and greatly enhances the processing capacity of the press. Although servo presses have many advantages over traditional mechanical presses, the technical barriers in servo presses have been a key issue restricting their popularization in our country. Among them, how to realize servo control of a servo press is of great importance.
Disclosure of Invention
The technical problem to be solved by the invention is how to realize the servo control of the servo press.
To solve the above technical problem, a first aspect of the present invention discloses a servo control method, which includes:
acquiring a process curve of a servo press;
calculating a motion characteristic curve of a servo motor of the servo press machine based on the process curve;
and controlling the servo motor to move based on the movement characteristic curve so as to drive the servo press to work in the mode of the process curve.
As an optional implementation manner, in the first aspect of the present invention, the obtaining a process curve of the servo press includes:
obtaining process curve characteristic parameters, wherein the process curve characteristic parameters at least comprise: maximum speed, maximum acceleration, jerk, and target position;
and determining a process curve of the servo press based on the process curve characteristic parameters.
As an optional implementation manner, in the first aspect of the present invention, the calculating a motion characteristic curve of a servo motor of the servo press based on the process curve includes:
calculating motion characteristic curve parameters based on the process curve, wherein the motion characteristic curve parameters at least comprise: adding an acceleration time period, a uniform acceleration time period, a deceleration acceleration time period and a uniform speed period;
and determining a motion characteristic curve of a servo motor of the servo press machine based on the motion characteristic curve parameters.
As an alternative embodiment, in the first aspect of the present invention, the controlling the motion of the servo motor based on the motion characteristic curve to drive the servo press to operate in the mode of the process curve includes:
a motion control model of the servo motor is constructed based on the following formula:
wherein,is the electromagnetic torque of the servomotor, < >>Is the nth differential operator,/>Is the magnitude of the permanent magnet flux linkage of the u-v-w three phases, +.>、/>、/>Is the stator current of u-v-w three phases, theta is the axis of u-phase winding and the axis of fundamental magnetic field of permanent magnetElectrical angle between->Is a permanent magnet rotor flux linkage->、/>Is the d, q axis stator current, +.>、/>The self inductance of the d and q axis stator windings;
constructing a full closed loop system control model of the servo press based on the motion control model;
and controlling the servo motor to move based on the full closed loop system control model and the movement characteristic curve so as to drive the servo press to work in the mode of the process curve.
In a first aspect of the present invention, a PID controller is used in the full closed loop system control model, and control parameters of the PID controller include a scaling factor, an integration factor and a differential factor, and the control parameters are adaptively adjusted according to a preset control parameter rule table, where an input of the rule table is a deviation and a deviation change rate, an output of the rule table is a scaling factor change value, an integration factor change value and a differential factor change value, and different deviations and deviation change rates have corresponding scaling factor change values, integration factor change values and differential factor change values in the rule table.
As an alternative implementation manner, in the first aspect of the present invention, in the rule, when the deviation is large, the corresponding proportional coefficient change value is large, the integral coefficient change value is small, and the differential coefficient change value is small;
when the deviation is medium, the corresponding change value of the proportional coefficient is smaller, the change value of the integral coefficient is larger, and the change value of the differential coefficient is larger;
when the deviation is smaller, the corresponding integral coefficient change value is larger.
As an alternative embodiment, in the first aspect of the present invention, the process curve includes: at least one of a plate blanking curve, a plate drawing curve, a sheet forming curve, a progressive blanking curve and a user-defined curve.
The second aspect of the present invention discloses a servo control device, the device comprising:
the acquisition module is used for acquiring a process curve of the servo press;
the calculation module is used for calculating a motion characteristic curve of a servo motor of the servo press machine based on the process curve;
and the control module is used for controlling the servo motor to move based on the movement characteristic curve so as to drive the servo press to work in the mode of the process curve.
The third aspect of the present invention discloses a servo control terminal, the terminal comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform some or all of the steps in the servo control method disclosed in the first aspect of the present invention.
A fourth aspect of the invention discloses a computer storage medium storing computer instructions which, when invoked, are adapted to perform part or all of the steps of the servo control method disclosed in the first aspect of the invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, firstly, the process curve of the servo press is obtained, then, the motion characteristic curve of the servo motor of the servo press is calculated based on the process curve, and finally, the motion of the servo motor is controlled based on the motion characteristic curve so as to drive the servo press to work in a process curve mode, so that the servo control of the servo press can be realized through the process curve and the motion characteristic curve.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a servo control method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a blanking curve of a sheet material in an embodiment of the present invention;
FIG. 3 is a schematic drawing of a drawing curve of a sheet material in an embodiment of the invention;
FIG. 4 is a schematic illustration of a sheet forming curve in an embodiment of the invention;
FIG. 5 is a schematic diagram of a progressive blanking curve in an embodiment of the present invention;
FIG. 6 is a schematic representation of a motion profile in an embodiment of the present invention;
fig. 7 is a diagram of an analytical model of three-phase and two-phase of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 8 is a diagram of a closed loop model of the entire servo press system in an embodiment of the present invention;
FIG. 9 is a graph showing scale factors in an embodiment of the inventionIs a rule table of (2);
FIG. 10 is a graph showing the integral coefficients in an embodiment of the inventionIs a rule table of (2);
FIG. 11 is a graph showing differential coefficients in an embodiment of the inventionIs a rule table of (2);
FIG. 12 is a schematic diagram of a servo control device according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of a servo control terminal according to an embodiment of the present invention;
fig. 14 is a schematic diagram of a computer storage medium according to an embodiment of the present invention.
Description of the embodiments
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or article that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or article.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses a servo control method, a device, a terminal and a storage medium, wherein a process curve of a servo press is firstly obtained, then a motion characteristic curve of a servo motor of the servo press is calculated based on the process curve, and finally the motion of the servo motor is controlled based on the motion characteristic curve so as to drive the servo press to work in a process curve mode, so that the servo control of the servo press can be realized through the process curve and the motion characteristic curve. The following will describe in detail.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a servo control method according to an embodiment of the invention. As shown in fig. 1, the servo control method may include the operations of:
101. acquiring a process curve of a servo press;
102. calculating a motion characteristic curve of a servo motor of the servo press machine based on the process curve;
103. and controlling the servo press to move based on the movement characteristic curve so as to drive the servo press to work in the mode of the process curve.
Compared with the traditional mechanical press, the process curve of the servo press slide block operation can be programmed at will, and the operation process can be accurately adjusted according to the requirements of the process, thereby providing possibility for optimizing various processes. Therefore, to achieve a good effect in the processing of the servo press, designing a suitable process curve according to the actual process requirements is an important aspect of controlling the servo press.
In the embodiment of the invention, various process curves can be preset for users to select, and the process curves can be customized by the users. According to the actual process requirements, the invention provides the following characteristic process curves with better process procedures: a plate blanking curve, a plate drawing curve, a sheet forming curve and a progressive blanking curve. The following describes the preset process curves respectively:
fig. 2 is a schematic diagram of a blanking curve of a sheet material in an embodiment of the present invention.
As shown in fig. 2, in the plate blanking process, the sudden decrease of the load and the transition of the direction of the movement of the slide at the moment the punch of the die breaks the plate cause the servo press to generate large noise and vibration during this short period of time. Therefore, in the blanking curve of the plate, when the male die is pressed into the plate to a certain depth (the generation of shear cracks is started), the slide block is stopped for a short time (curve bc section), then the transition stage (curve cd section) from the cutting of the plate to the cutting action is entered, a small section of slide block stop time (curve de section) is set after the plate is punched, and finally the return stroke of the slide block is controlled. Thus, the noise and vibration generated by the servo press at the moment that the male die breaks the plate can be reduced.
Fig. 3 is a schematic drawing of a drawing curve of a sheet material in an embodiment of the present invention.
As shown in fig. 3, in the sheet drawing process, the drawing speed required in drawing is smaller than that required in blanking, and the drawing speed of the drawing punch after the drawing work is completed cannot be too high. Therefore, in the sheet drawing curve, the moving speed of the slide block is smaller in both the drawing stage (curve bc section) and the punch demolding return stage (curve cd section), and is higher in the non-drawing working stage (curve ab section and curve de section).
Fig. 4 is a schematic drawing of a sheet forming curve in an embodiment of the present invention.
As shown in fig. 4, the sheet forming and stamping process is complex, and has components of the drawing process, components of sheet bulging and stamping process properties such as bending, cutting tongue and the like, so that the moving speed of the sliding block during stamping is not required to be too high. When the sliding block reaches the bottom dead center and the stamping stroke is finished (the curve cd section) for a period of time, the stamping part can be protected, and the rebound deformation of the stamping part is reduced.
Fig. 5 is a schematic diagram of a progressive blanking curve in an embodiment of the present invention.
As shown in fig. 5, progressive blanking is a common stamping process used in the production of flat sheet metal structural members. The working stroke of the slide block is not required to be large during stamping, but a strict time sequence relation exists between stamping forming and feeding of the plate, and the stamping forming and the feeding of the plate are coordinated with each other, otherwise, the die is damaged or stamping accidents are caused. Thus, in the progressive blanking curve, the slider will stay for approximately half a cycle (section ef) after returning to top dead center, so that the automatic feeding device feeds the sheet material into the working area.
When the preset process curve cannot meet the actual process requirement, the user can also adopt a mode of customizing the process curve. For example, uploading user-defined process curve data, and user-defined editing (e.g., user setting key parameters of curve, user drawing process curve on graphic interface, etc.) by curve editing tool provided by servo press
The servo press can better meet various process requirements by presetting process curves with various characteristics for users to select and customizing the process curves by the users, so that the servo press has better process performance and the performance of the servo press is improved.
In step 102 described above, the process profile generally describes the case where the stroke of the slider varies with time, which is the final result of the servo press control. The slider is typically driven by a servo motor, so that the final control result of the slider is achieved by controlling the motion of the servo motor during the entire control process. Therefore, the process curve is required to be converted into a control curve (namely a motion characteristic curve) of the servo motor, then an electrical control signal output to the servo motor is calculated based on the control curve of the servo motor, and then a corresponding electrical control signal is transmitted to the servo motor according to a calculation result, so that the control of the stroke of the sliding block is achieved, and the effect of controlling the process is achieved.
In the automatic control theory, it is generally required that the track of the control object can be continuous in multiple steps (i.e. the travel track of the slider is continuous and smooth), and the more continuous and smooth the track of the control object is, the better the performance of the control process is. In order to achieve stable control of the stroke of the sliding block and achieve good tracking of a process curve, the embodiment of the invention provides an algorithm for dynamically accelerating and decelerating in the control process, so that a good control effect can be achieved.
Fig. 6 is a schematic diagram of a motion profile in an embodiment of the present invention.
Specifically, for the control of the displacement amount of the slider, the input of the control may include not only the target position of the slider but also the maximum speed, the maximum acceleration, and the jerk of the slider movement. And calculating the control input to obtain a motion characteristic curve of the servo motor. The motion characteristic curve can comprise a speed curve, an acceleration curve and a jerk curve of the servo motor. As shown in fig. 6, the input of control: the target position is 1500, the maximum speed is 60, the maximum acceleration is 6, and the jerk is 1. The calculated acceleration time period, the uniform acceleration time period, the deceleration time period and the uniform speed period are 6, 10, 16 and 25 in sequence. And determining the motion characteristic curve through the four motion characteristic curve parameters. In FIG. 6, the time of 0-6 is the acceleration time, the time of 6-10 is the uniform acceleration time, the time of 10-16 is the deceleration time, and the time of 16-25 is the uniform velocity time. The position control of the sliding block is realized in such a way that the sliding block firstly reaches the maximum speed 60 quickly, then maintains running for a period of time at the maximum speed, and finally rapidly reduces to zero speed, so that the stable and rapid control of the sliding block can be realized, and an excellent control effect is achieved. The control input of the general control of the displacement amount of the sliding block only comprises the target position of the sliding block, and usually does not comprise parameters such as the maximum speed, the maximum acceleration, the jerk and the like of the sliding block, namely the control process is not regulated, the control process is usually only moved to the target position according to the fixed moving speed, the control mode is not multi-step continuous, and the stability and the response speed of the control process are not good. Compared with the control process of the general displacement of the sliding block, the control process provided by the embodiment of the invention is smoother and more stable. The algorithm for dynamically accelerating and decelerating in the control process provided by the embodiment of the invention can realize multi-order continuous control of the position of the sliding block, thereby achieving better control effect.
On the basis of the control process, to realize tracking of the process curve, the process curve can be deconstructed into the parameters of the control input (namely, the process curve characteristic parameters), namely, the process curve can be described through the process curve characteristic parameters. Finally, when the control of the process curve is realized, the control process can be continuous in multiple steps, and the process has better continuity and stability. For example, in the process curve, the first section of curve is the position 100 reached by the slide in 2S, that is, the characteristic parameters (maximum speed, maximum acceleration, jerk and target position) of the process curve of the first section of curve can be set according to the control target, so that the control effect of the slide reaching the position 100 in 2S can be achieved according to the control process, and thus the tracking of the process curve is realized.
In an alternative embodiment, the controlling the motion of the servo motor based on the motion profile to drive the servo press to operate in the process profile mode includes:
constructing a motion control model of the servo motor based on the following formula;
wherein,is the electromagnetic torque of the servomotor, < >>Is the nth differential operator,/>Is the magnitude of the permanent magnet flux linkage of the u-v-w three phases, +.>、/>、/>Is the stator current of u-v-w three phases, theta is the electrical angle between the u-phase winding axis and the permanent magnet fundamental magnetic field axis,/and->Is a permanent magnet rotor flux linkage->、/>Is the d, q axis stator current, +.>、/>The self inductance of the d and q axis stator windings;
constructing a full closed loop system control model of the servo press based on the motion control model;
and controlling the servo motor to move based on the full closed loop system control model and the movement characteristic curve so as to drive the servo press to work in the mode of the process curve.
In this alternative embodiment, after the motion profile of the servo motor is obtained, the servo motor can be controlled accordingly to drive the servo press to operate in the corresponding mode. Specifically, a control mode of the servo press can be constructed first, then the motion characteristic curve is calculated based on the control model of the servo press, and corresponding control input is obtained, under which the servo motor can move according to the motion characteristic curve to drive the servo press to work in a corresponding mode.
The servo motor in the embodiment of the invention can be an alternating current permanent magnet synchronous motor. In order to construct a motion control model of an alternating current permanent magnet synchronous motor, the following assumptions are made: core saturation effect is not counted; eddy current and hysteresis losses are not counted; damping windings on the rotor are not counted; the permanent magnet damping is not counted; the internal magnetic field is in a sinusoidal distribution. In order to construct the motion control model, the three phases are required to be changed into two phases, and fig. 7 is an analytic model diagram of the three phases and the two phases of the permanent magnet synchronous motor. In FIG. 7、/>、/>Is the stator voltage of u-v-w three phases; />Is the stator winding resistance; />、/>、/>Is the self inductance of the winding; />、/>、/>Is the mutual inductance of the windings; />、/>、/>Is the stator current of u-v-w three phases. There is a voltage equation under a three-phase coordinate system:
wherein, P is a differential operator,、/>、/>the induced rotating electromotive force of the permanent magnet magnetic field in the u-v-w three phases is:
in the method, in the process of the invention,the magnitude of the permanent magnet flux linkage for the u-v-w three phases; θ is the electrical angle between the u-phase winding axis and the permanent magnet fundamental magnetic field axis, with:
the three phases are changed into two phases, a d-q axis model is adopted, as shown in fig. 7, the d axis direction is the same as the axis direction of the fundamental wave magnetic field of the permanent magnet, and the transformation matrix is as follows:
the conversion of equation (4.1) from the conversion matrix of equation (4.4) includes:
in the method, in the process of the invention,、/>is the d, q axis stator voltage; />、/>D, q axis stator currents; />、/>The self inductance of the d and q axis stator windings; />The magnetic chain is a permanent magnet rotor magnetic chain, which comprises:
the electromagnetic torque can be expressed by the sum of the products of the armature winding and the flux linkage of the permanent magnet intersecting the armature winding, and the electromagnetic torque can be obtained at this timeIs represented by the expression:
so far, the mathematical model of the alternating current permanent magnet servo motor body is constructed. The vector control method for the alternating current permanent magnet servo motor mainly comprises the following steps:control strategy of =0, maximum torque control, field weakening control, cos phi=0 control, maximum efficiency control, etc. Because the servo motor in the servo press is required to have strong overload capacity, quick action response and high torque linearity, and the control method is required to be simple and reliable, constant power operation is not required, the servo motor usually adopts a surface permanent magnet structure in the servo press, namely ++>=/>=/>A control strategy with id=0 is suitable. The servo driver in the embodiment of the invention can also adopt the methodThe control scheme can construct a servo control model of the permanent magnet alternating current servo motor according to a control strategy of id=0.
The closed loop formed by the servo motor system can only form a semi-closed loop in the whole motion system, and obviously cannot meet the position accuracy requirement of the sliding block. In order to ensure the position accuracy of the sliding block, a motion control system of the full-closed-loop servo press based on real-time feedback of the position of the sliding block needs to be further constructed.
After the servo control model of the permanent magnet alternating current servo motor is built, the mathematical model of the part corresponds to the physical entity which is the servo driver and the alternating current permanent magnet synchronous motor entity. If the system is directly connected in series into the whole servo press system without adding other control loops, the whole system can only be called a semi-closed loop system. In order to ensure the accuracy of the position of the slide, the position of the slide needs to be fed back and a corresponding loop system is constructed.
FIG. 8 is a diagram of a closed loop model of the entire servo press system in an embodiment of the present invention.
It can be seen from fig. 8 that at least three modules of the mechanical transmission system, the crank-link-slider, the slider position loop controller and the like need to be constructed to construct a complete mathematical model. And combining the mathematical models of the three modules with a servo control model of the permanent magnet alternating current servo motor to obtain a closed loop model of the whole servo press system.
In the mathematical model of the slider position loop controller, a PID controller, i.e., a proportional-integral-derivative controller, can be used for the slider position loop control debug loop. Since the coefficients of the proportion, integral and derivative are constant in the conventional PID controller, the effect of the conventional PID controller is not ideal in a complex system with large hysteresis, nonlinearity and time variability. Therefore, the embodiment of the invention adopts a PID controller with adaptively adjustable control parameters as a slider position loop control modulator, and the method is described below.
Generally different deviations e and rates of change of deviationsControl parameters for PID controller (scaling factor +.>Integral coefficient->And differential coefficient->) There are different requirements and in practice the following rules can be summarized:
(1) When the deviation e is large, the proportionality coefficient is desiredTakes a larger value to increase the response speed, the integration coefficient is expected +.>Taking smaller values prevents the deviation rate of change +.>The value of (2) is instantaneously too large, the desired differential coefficient +.>Taking a smaller value to control overshoot;
(2) When the deviation e is of moderate magnitude, a proportionality coefficient is desiredTaking a smaller value, the desired integration coefficient +.>Increase, desired differential coefficient +.>Increasing, at this time, the overshoot should be prevented under the condition of ensuring the response speed;
(3) When the deviation e is small, an integral coefficient is desiredTaking a larger value increases the steady state while integratingCoefficient->Is added to the value and deviation change rate of (2)>To be connected.
FIG. 9 is a graph showing scale factors in an embodiment of the inventionIs a rule table of (a).
FIG. 10 is a graph showing the integral coefficients in an embodiment of the inventionIs a rule table of (a).
FIG. 11 is a graph showing differential coefficients in an embodiment of the inventionIs a rule table of (a).
As shown in fig. 9, 10 and 11, the embodiment of the invention will deviate from e and the deviation change rateAs language input variables in the rule, the values thereof correspond to sets { NB, NM, NS, O, PS, PM, PB }, the values in this set corresponding to the amounts of text, respectively, in order: negative big, negative medium, negative small, zero, positive small, medium, positive big. Selecting a proportional coefficient->Integral coefficient->Differential coefficient->Variation value of +.>、/>、/>As a rule, the language output variable also has a language variable value corresponding to the set { NB, NM, NS, O, PS, PM, PB }. Deviation e and deviation rate of change ∈>Inputting rules in the graph, and obtaining corresponding PID control parameter variation value by reasoning and inquiring the rules>、/>、/>Accordingly, the control parameter of PID is adjusted>、/>、/>Thus, the self-adaptive adjustment of the PID control parameters conforming to the rules can be realized, and a better control effect is obtained. For example, the input deviation e and the deviation change rate +.>NB, respectively, the corresponding ++can be obtained by querying the rules in the map>、/>、/>PB, NB, PS in this order, the following can be according to the corresponding +.>、、/>Control parameter of the value-regulated PID>、/>、/>。
In an alternative embodiment, the controlling the motion of the servo motor based on the motion profile to drive the servo press to operate in the process profile mode includes:
and controlling a servo driver to drive the servo motor to move in a speed mode based on the speed curve so as to drive the servo press to work in the mode of the process curve.
The control modes of the servo motor generally include three modes: torque control mode, speed control mode, position control mode. In the embodiment of the invention, the control is focused on the speed control mode, so that the dynamic response speed and the accuracy of final response can be better considered.
Therefore, implementing the servo control method described in fig. 1, firstly, a process curve of the servo press is obtained, then, a motion characteristic curve of a servo motor of the servo press is calculated based on the process curve, and finally, the motion of the servo motor is controlled based on the motion characteristic curve to drive the servo press to work in a process curve mode, so that the servo control of the servo press can be realized through the process curve and the motion characteristic curve.
Example two
Referring to fig. 12, fig. 12 is a schematic structural diagram of a servo control device according to an embodiment of the invention. As shown in fig. 12, the servo control device may include:
an acquisition module 1201, configured to acquire a process curve of the servo press;
a calculation module 1202 for calculating a motion characteristic curve of a servo motor of the servo press based on the process curve;
the control module 1203 is configured to control the motion of the servo motor based on the motion profile, so as to drive the servo press to operate in the mode of the process profile.
For the specific description of the above servo control device, reference may be made to the specific description of the above servo control method, which is not described in detail herein.
Example III
Referring to fig. 13, fig. 13 is a schematic structural diagram of a servo control terminal according to an embodiment of the present invention. As shown in fig. 13, the servo control terminal may include:
a memory 1301 storing executable program code;
a processor 1302 coupled to the memory 1301;
the processor 1302 invokes executable program code stored in the memory 1301 to perform steps in the servo control method disclosed in the first embodiment of the present invention.
Example IV
The embodiment of the invention discloses a computer storage medium which stores computer instructions for executing the steps in the servo control method disclosed in the first embodiment of the invention when the computer instructions are called.
The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a servo control method, a device, a terminal and a storage medium, which are only disclosed in the preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A servo control method, the method comprising:
acquiring a process curve of a servo press;
calculating a motion characteristic curve of a servo motor of the servo press machine based on the process curve;
and controlling the servo motor to move based on the movement characteristic curve so as to drive the servo press to work in the mode of the process curve.
2. The servo control method of claim 1 wherein the acquiring a process profile of a servo press comprises:
obtaining process curve characteristic parameters, wherein the process curve characteristic parameters at least comprise: maximum speed, maximum acceleration, jerk, and target position;
and determining a process curve of the servo press based on the process curve characteristic parameters.
3. The servo control method according to claim 2, wherein the calculating a motion characteristic curve of a servo motor of the servo press based on the process curve includes:
calculating motion characteristic curve parameters based on the process curve, wherein the motion characteristic curve parameters at least comprise: adding an acceleration time period, a uniform acceleration time period, a deceleration acceleration time period and a uniform speed period;
and determining a motion characteristic curve of a servo motor of the servo press machine based on the motion characteristic curve parameters.
4. A servo control method as recited in claim 3, wherein said controlling said servo motor motion based on said motion profile to drive said servo press to operate in said process profile mode comprises:
a motion control model of the servo motor is constructed based on the following formula:
wherein,is the electromagnetic torque of the servomotor, < >>Is the nth differential operator,/>Is the magnitude of the permanent magnet flux linkage of the u-v-w three phases, +.>、/>、/>Is the stator current of u-v-w three phases, theta is the electrical angle between the u-phase winding axis and the permanent magnet fundamental magnetic field axis,/and->Is a permanent magnet rotor flux linkage->、/>Is the d, q axis stator current, +.>、/>The self inductance of the d and q axis stator windings;
constructing a full closed loop system control model of the servo press based on the motion control model;
and controlling the servo motor to move based on the full closed loop system control model and the movement characteristic curve so as to drive the servo press to work in the mode of the process curve.
5. The servo control method according to claim 4, wherein a PID controller is used in the full closed loop system control model, and control parameters of the PID controller include a proportional coefficient, an integral coefficient, and a differential coefficient, and the control parameters are adaptively adjusted according to a preset control parameter rule table, wherein an input of the rule table is a deviation and a deviation change rate, an output of the rule table is a proportional coefficient change value, an integral coefficient change value, and a differential coefficient change value, and different deviations and deviation change rates have corresponding proportional coefficient change values, integral coefficient change values, and differential coefficient change values in the rule table.
6. The servo control method of claim 5, wherein,
in the rule, when the deviation is larger, the corresponding proportional coefficient change value is larger, the integral coefficient change value is smaller and the differential coefficient change value is smaller;
when the deviation is medium, the corresponding change value of the proportional coefficient is smaller, the change value of the integral coefficient is larger, and the change value of the differential coefficient is larger;
when the deviation is smaller, the corresponding integral coefficient change value is larger.
7. The servo control method of any one of claims 1-6 wherein the process profile comprises: at least one of a plate blanking curve, a plate drawing curve, a sheet forming curve, a progressive blanking curve and a user-defined curve.
8. A servo control device, the device comprising:
the acquisition module is used for acquiring a process curve of the servo press;
the calculation module is used for calculating a motion characteristic curve of a servo motor of the servo press machine based on the process curve;
and the control module is used for controlling the servo motor to move based on the movement characteristic curve so as to drive the servo press to work in the mode of the process curve.
9. A servo control terminal, said terminal comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the servo control method of any one of claims 1-7.
10. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the servo control method according to any one of claims 1-7.
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